Support assembly for robotic catheter system

ABSTRACT

A support assembly for supporting a remotely-controlled instrument driver, including a first member, a second member for supporting the instrument driver, and an interface assembly for allowing the second member to rotate relative to the first member about a first axis, and for allowing the second member to rotate relative to the first member about a second axis that forms an angle relative to the first axis, wherein the interface assembly comprises a ball that is rotatable relative to the first member, and a shaft extending through the ball, the shaft configured for coupling to the second member.

RELATED APPLICATION DATA

The present application is a continuation of U.S. patent applicationSer. No. 11/173,812, filed Jul. 1, 2005, which claims the benefit under35 U.S.C. §119 to U.S. provisional patent application Ser. Nos.60/677,580, filed May 3, 2005, and 60/678,097, filed May 4, 2005, whichare incorporated by reference into the present application in theirentirety.

The present application is also related to U.S. patent application Ser.No. 11/073,363, filed Mar. 4, 2005, which claims the benefit under 35U.S.C. §119 to U.S. provisional patent application Ser. Nos. 60/550,961,filed Mar. 5, 2004, 60/553,029, filed Mar. 12, 2004, 60/600,869, filedAug. 12, 2004, and 60/644,505, filed Jan. 13, 2005. The foregoingapplications are also incorporated by reference into the presentapplication in their entirety.

FIELD OF INVENTION

The invention relates generally to robotically controlled cathetersystems, and more particularly to support arm assemblies for mountingand positioning an instrument driver to a operating table in a roboticcatheter system.

BACKGROUND

Robotic catheter systems and devices are well suited for use inperforming minimally invasive medical procedures, as opposed toconventional techniques wherein the patient's body cavity is open topermit the surgeon's hands access to internal organs. For example, thereis a need for a highly controllable yet minimally sized system tofacilitate imaging, diagnosis, and treatment of tissues which may liedeep within a patient, and which may be accessed via naturally-occurringpathways such as blood vessels or the gastrointestinal tract, or smallsurgically-created pathways.

SUMMARY OF THE INVENTION

In accordance with various embodiments of the invention, a supportassembly is provided for supporting a remotely-controlled instrumentdriver relative to the patient. In one embodiment, a support assemblyfor supporting a remotely-controlled instrument driver, including afirst member, a second member for supporting the instrument driver, andan interface assembly for allowing the second member to rotate relativeto the first member about a first axis, and for allowing the secondmember to rotate relative to the first member about a second axis thatforms an angle relative to the first axis, wherein the interfaceassembly comprises a ball that is rotatable relative to the firstmember, and a shaft extending through the ball, the shaft configured forcoupling to the second member.

In one embodiment, the support assembly comprises a base removablyattachable to an operating table, and an actuator assembly coupled tothe base. In one embodiment, the base comprises a clamp having a clampbody portion configured to pivot relative to the base. The actuatorassembly includes a rotable member and a brake configured to selectivelyallow rotation of the rotatable member about a first axis, which ispreferably substantially perpendicular to the operating table. Theactuating assembly further includes an actuator, such as, e.g., asolenoid.

A first extension member has a first end mounted to the rotatablemember, such that the brake selectively allows rotation of the firstextension member about the first axis. By way of non-limiting example,the brake may be configured to prevent rotation of the first extensionmember about the first axis unless it is electronically activated, inwhich case it allows such rotation. A second extension member is coupledto a second end of the first extension member via an interface assemblyconfigured to selectively allow rotation of the second extension memberabout a second axis, which may be substantially parallel to the firstaxis, upon activation of the actuator. In one embodiment, the interfaceassembly is further configured to also allow rotation of the secondextension member about a third axis, which is preferably substantiallyorthogonal to the second axis, upon activation of the actuator. In suchembodiment, the second extension member may comprise a force-resistingmechanism to resist rotation of the second extension member about thethird axis.

In one embodiment, the interface assembly comprises a shaft having afirst end coupled to a ball joint and a second end coupled to the secondextension member. A lever arm extends through the first extensionmember, the lever arm subjected to a biasing force to thereby retain theball joint in a locked position, the actuator assembly configured toovercome the biasing force upon activation of the actuator, therebyallowing the ball joint to move to an unlocked position. The ball jointis preferably oriented within the interface assembly to be in anunlocked position due to gravitational force in the absence of beingconstrained in a locked position by the lever arm. In one embodiment,the lever arm is operatively coupled with a leveraging mechanismconfigured to apply a leveraged force on the ball-joint. In preferredembodiments, the levering mechanism causes the lever arm to apply aleveraged forced on the ball joint in a range between about 5:1 to about20:1, and in one embodiment, at a ratio of about 15:1.

In various embodiments, the second extension member comprises a firstend attached to the second end of the shaft, with a first sprocketrotatably attached to the first end and fixed to the first extensionmember, such that the first sprocket rotates in proportion to rotationof the second extension member about the third axis. A second sprocketis rotatably attached to a second end of the second extension member,with the first and second sprockets linked so that the second sprocketrotates in proportion to rotation of the first sprocket. The supportassembly further comprises a support member configured for mounting andcarrying the instrument driver, wherein the support member may becoupled to the second sprocket in a manner such that an instrumentdriver mounted to the support member remains in a substantially sameorientation relative to the operating table, regardless of rotation ofthe second extension member relative to the interface assembly. By wayof one example, a support member brake housing is fixedly attached tothe second sprocket, the brake housing defining an aperture facing awayfrom the operating table that rotatably seats the instrument driversupport member. In this manner, the instrument driver support member maybe selectively rotated about an axis defined by the brake housingaperture, wherein the axis remains in the same orientation relative tothe operating table, regardless of rotation of the second extensionmember about the interface assembly.

In one embodiment, rotation of the first extension member about thefirst axis is prevented unless the actuating assembly brake iselectronically activated, and rotation of the instrument driver supportmember about the support member brake aperture is prevented unless thesupport member brake is electronically activated. The actuator ispreferably also electronically activated. Preferably, the actuatingassembly brake, instrument driver support member brake, and the actuatorare all activated by a common control signal. In one embodiment, thecontrol signal is activated by depression of a button located on theinstrument driver support member.

In one embodiment, an adjustable mounting interface is carried on theinstrument driver support member and configured for mounting aninstrument driver in a selectable pitch relative to the operating table.A biasing spring may be carried on the support member and configured toat least partially counterbalance a cantilevered load upon theinstrument driver mounting interface caused by the weight of aninstrument driver mounted upon it.

Other and further embodiments and aspects of the invention will becomeapparent upon review of the following detailed description in view ofthe illustrated embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings illustrate the design and utility of illustratedembodiments of the invention, in which similar elements are referred toby common reference numerals, and in which:

FIG. 1 illustrates a robotic catheter system in accordance with oneembodiment;

FIG. 2 illustrates a robotic catheter system in accordance with anotherembodiment;

FIG. 3 illustrates one embodiment of a support assembly for mounting aninstrument driver to an operating table;

FIG. 3.1 is a perspective isometric view of another embodiment of asupport assembly for mounting an instrument driver to an operatingtable;

FIG. 3.2 is an exploded isometric view of the support assembly of FIG.3.1;

FIG. 3.3 is a cut-away side sectional view of a table clamp used in thesupport assembly of FIG. 3.1;

FIG. 3.4 is a cut-away side sectional view of a solenoid and brake unitused in the support assembly of FIG. 3.1;

FIG. 3.5 is an exploded isometric view of a brake assembly used in thesolenoid and brake unit of FIG. 3.4;

FIG. 3.6 is a cut-away side sectional view of an arcuate verticalextension member used in the support assembly of FIG. 3.1;

FIG. 3.7 is a perspective isometric view of a ball/shaft interface usedto movably a horizontal extension member to the arcuate extension memberof FIG. 3.6;

FIG. 3.8 is a cut-away side sectional view of the horizontal extensionmember in the support assembly of FIG. 3.1;

FIG. 3.9A is partially cut-away, perspective isometric view of aninstrument driver mounting shaft and handle assembly used in the supportassembly of FIG. 3.1;

FIG. 3.9B is a perspective isometric view of the instrument drivermounting shaft and handle assembly of FIG. 3.9A;

FIG. 3.10A is a perspective isometric view of an instrument driver asmounted to one embodiment of a support assembly; and

FIG. 3.10B is a reverse perspective isometric view of the structuresdepicted in FIG. 3.10A.

DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS

Referring to FIG. 1, one embodiment of a robotic catheter system 32,includes an operator control station 2 located remotely from anoperating table 22, to which a instrument driver 16 and instrument 18are coupled by a instrument driver mounting brace 20. A communicationlink 14 transfers signals between the operator control station 2 andinstrument driver 16. The instrument driver mounting brace 20 of thedepicted embodiment is a relatively simple, arcuate-shaped structuralmember configured to position the instrument driver 16 above a patient(not shown) lying on the table 22.

In FIG. 2, another embodiment of a robotic catheter system is depicted,wherein the arcuate-shaped member 2 is replaced by a movable support-armassembly 26. The support assembly 26 is configured to movably supportthe instrument driver 16 above the operating table 22 in order toposition the instrument driver 16 for convenient access into desiredlocations in a patient (not shown). The support assembly 26 in FIG. 2 isalso configured to lock the instrument driver 16 into position once itis positioned.

FIG. 3 provides a closer view of the support assembly 26 depicted in theembodiment of FIG. 2. The support assembly 26 comprises a series ofrigid links 36 coupled by electronically braked joints 34. The joints 34allow motion of the links 36 when energized by a control system (notshown), but otherwise prevent motion of the links. The control systemmay be activated by a switch (e.g., a footswitch), or computerinterface. In another embodiment, the rigid links 36 may be coupled bymechanically lockable joints, which may be locked and unlocked manuallyusing, for example, locking pins, screws, or clamps. The rigid links 36preferably comprise a light but strong material, such as high-gagealuminum, shaped to withstand the stresses and strains associated withprecisely maintaining a three-dimensional position of the approximatelyten pound weight of a typical embodiment of the instrument driver 16once the position of the link 36 is fixed.

FIGS. 3.1-3.10B depict another embodiment of the support assembly, alsodesignated by reference no. 26. Referring to FIGS. 3.1 and 3.2, in thisembodiment, a mechanical operating table interface 1 includes a pair ofclamp members 89 to removably attach the support assembly 26 to theoperating table 22 (shown in phantom outline). As explained in greaterdetail in conjunction with FIG. 3.3, the clamp members 89 include alower clamp toe configured to pivot outwards for ease in engaging a rail(not shown) on an edge of the operating table 22.

The main body of the mechanical interface 1 is fixed to the housing of asolenoid and brake unit 3. A proximal base of an arcuate, verticalextension member 11 is coupled to, and selectively rotable about acentral axis of, the solenoid and brake unit 3. The vertical extensionmember 11 bends through an angle of approximately 90°, and has a distalend rotatably coupled, via a pan-rotate interface 13, to a first end ofa further extension member 15. As explained in greater detail inconjunction with FIG. 3.6, the pan-rotate interface 13 selectivelyallows extension member 15 to both rotate about an axis of a distalextending shaft 55 (seen in FIG. 3.2), as well as pan laterally along anarc defined by lateral movement of the shaft 55 through a pan slot 111defined by the housing 121 of the pan-rotate interface 13 in a planethat is preferably parallel to a plane defined by the operating table.

A distal brake unit 19 is coupled to a sprocket comprising the secondend of extension member 15, the sprocket being rotatably coupled to thehousing fo the extension member 15, as described in further detailbelow. The brake unit 19 is configured for selectively allowing rotationof an instrument driver support shaft 17 relative to the brake unit 19,the support shaft 17 carrying a pivotable mounting interface 21 forattaching the instrument driver (not shown). The support shaft 17further includes a handle portion 23, which has a button 24 forelectronically actuating the respective electronic brake and solenoid inunit 3, as well as the distal brake 19, to thereby allow theafore-described motions of the various components of the assembly 26.Cable holder brackets 113 are provided along the exterior of the supportshaft 17, pan-rotate interface 13, and solenoid and brake unit 3,respectively, for attaching a power/control cable from the instrumentdriver (not shown). One a more control cables (not seen) also extendinternally within the various components of the assembly 26 from thedistal end button 24 to the distal brake 19 and to the solenoid andbrake unit 3.

The support assembly 26 is configured to facilitate easy positioning andrepositioning of a remotely controlled instrument driver over theoperating table 22. When the button 24 on the handle portion 23 isdepressed, the respective electronic brakes and solenoid of the assembly26 allow the respective interfaces to move freely relative to eachother, constrained only by the interface configurations, to allow forrepositioning of the handle 23 and associated instrument driver supportshaft 17 relative to the operating table 22. When the button 24 is notdepressed, the respective brakes prevent any further movement of thesupport shaft 17, wherein the support assembly 26 is configured toprovide a high level of mechanical stability. In one embodiment, uponactivation of the solenoid and release of the brakes, the distal brakeunit 19 is configured to allow an approximately 135 degree range ofmotion about the rotation axis 125 of the brake unit 19, the pan-rotateinterface 13 is configured to allow an approximately 140 degree range ofmotion rotation about the rotational axis of the shaft 55 as well asapproximately 110 degrees of pan rotational motion through the planedefined by the pan slot 111, and the vertical extension member 11 isconfigured to allow an approximately 350 degree range of rotationalmotion relative to the solenoid and brake unit 3, which is configured tobe coupled to an operating table.

As shown in FIG. 3.3, the mounting clamps 89 each generally comprise afixed body portion 33 having a mating surface 101, and upper and lowerclamp toe portions 115 and 99, configured for attachably coupling to arail (not shown) disposed on an edge of the operating table 22. Thelower clamp toe portion 99 is preferably fastened to the swinging clampbody portion 29, with a threaded locking member 25 used totighten/loosen the lower clamp toe portion 99 against the rail tosecure/release the clamp 89 thereto or therefrom. For ease in loadingthe assembly 26 onto an operating table rail, the mating surface 101 ofthe fixed clamp body portion 33 is indented to seat a fulcrum rod 27that rides against a side of the rail, and the swinging clamp bodyportions 29 of the clamps 89 may be individually pivoted (95) about thepin member 31 to rotate away from the operating table rail (not shown)to facilitate extending the upper clamp toe member 115 onto the railwith easy access to the mating surface 101. In the depicted embodiment,the swinging clamp toe bodies 29 are spring 97 biased to rotate (95) inthis manner until the mating surface 101 has been positioned against theoperating table rail (not shown), subsequent to which the swinging clamptoe bodies 29 may be manually rotated about the pin 31 and wound intoposition interfacing with the operating table rail (not shown) with thethreaded locking member 25, as depicted in FIG. 3.3.

Referring to FIG. 3.4, the solenoid and brake unit 3 comprises an outerhousing 103 and an inner member 45 that is rotatably mounted within thehousing 103. The inner member includes a distal facing surface 117,configured to receive a proximal mounting interface 94 of the verticalextension member 11 (See FIG. 3.2). In this manner, the extension member11 (See FIG. 3.2) is rotatable about a longitudinal axis 119 of thesolenoid and brake unit 3. A brake assembly 39 is biased to preventrotation of member 45 (and, thus, of extension arm 11), unlesselectronically actuated to release the member 45. In FIG. 3.5, the brake39 is depicted, along with a flex-disk interface 49 and a clamp 47,which couples firmly to the rotatable frame member 45. The flex-diskinterface 49 allows for some axial movement between the clamp 47 and thebrake 39, without significant rotational “slop” commonly associated withmore conventional spline interfaces. Thus, manual rotation of thevertical arm 11 about an axis which may be substantially orthogonal tothe operating table 22 (i.e., for positioning an instrument driver 16mounted on the support shaft 17 relative to a patient positioned on theoperating table 22) is selectively allowed by electronic activation ofthe brake 39 when the button 24 is depressed into the handle 23.

Referring back to FIG. 3.4, a top end of the unit 3 includes a plunger41, that is biased by a set of helical springs 43 to push away from thehousing 103 of the solenoid and brake unit 3, into an interior bore ofthe extension member 11. When a solenoid 35 located in a lower portionof the housing 103 is electronically activated, it pulls a pull-rod 37,which in turn pulls the plunger 41, in a compressive direction againstthe springs 43, toward the housing 103 of the solenoid and brake unit 3.

As shown in FIG. 3.6, the vertical extension member 11 has a hollowinterior to accommodate an arcuate lever 57 configured to compress andlock into place the pan-rotate interface 13 when rotatedcounterclockwise about a pivot pin 61 within, and relative to, thevertical extension member 11 as the plunger 41 (see FIG. 3.4) is pushedupward away from the housing 103 (see FIG. 3.4) by the spring 43 load.With the plunger 41 pushed upward, the ball 53 is placed intocompression between the toe 130 of the arcuate lever 57 and a contouredsurface 131 coupled to the base of the pan-rotate interface 13 housing121. The ball 53, contoured surface 131 and bearings 63 mounted upon theshaft 55 preferably are configured to place substantially all of theapplied compressive load upon the ball 53 and not the bearings 63. Whenthe plunger 41 is pulled downward by the activated solenoid 35, the loadpreviously applied by the plunger 41 to the wheelset 59 at the end ofthe arcuate lever 57 is released and gravity pulls the arcuate lever 57into clockwise rotation about the pivot pin 61, thus substantiallyreleasing the compressive loads that lock into the place the pan-rotateinterface 13 and allowing panning and rotation of the shaft 55. Thepan-rotate interface 13 includes a ball 53 and shaft 55 construct(collectively indicated with ref no. as 51), that, in one embodiment, isconfigured to provide a 15:1 leverage ratio for loads applied by theplunger 41 at a wheel set 59 housed in the extension member 11 andcoupled to the proximal end of the arcuate lever 57.

Referring to FIG. 3.7, the ball/shaft interface 51 comprises bearings 63to facilitate stable panning rotation, as well as rotation of anassociated structure about the longitudinal axis of the shaft 55. Theball 53 preferably is greased to facilitate smooth panning and rotationwhen not compressibly locked into position. The bearings facilitatelateral panning of the shaft member 55 about a plane formed by thepan-rotate interface 13, which causes the bearings 63 to rotate on aplanar annulus about the center of the ball 53. The result isconstrained motion in two different degrees of freedom: lateral panningas per the planar annulus and bearing interface, and rotation about theaxis of the shaft 55. The bias force of the springs 43 on the plunger 41extending from the solenoid housing 103 normally lock the ball/shaftinterface 51 into place, preventing either panning or rotation motion atthe interface. Electronic activation of the solenoid withdraws thepull-rod and, by extension, piston 41 away from the wheel set 59,thereby unloading the significant compressive forces that otherwise keepthe ball 53 locked into place, allowing for panning/rotation.

Referring also back to FIG. 3.2, the shaft 55 protrudes through ahorizontal slot 111 located in a distal face 123 of the housing 121covering the pan interface 13. The slot 111 constrains the horizontalpanning motion of the shaft 55 (and, by extension, the support member15) in a plane that may be substantially parallel to the operating tablewithin the range of motion defined by the boundaries of the slot 111.

Referring to FIG. 3.8, the shaft 55 is coupled to a proximal sprocket 75of the horizontal extension member 15 using a conventional interferencefit, such as a “number 3 Morse taper.” The proximal sprocket 75 iscoupled to a distal sprocket 74 by a timing chain 73, so that rotationof the shaft 55 correspondingly rotates both sprockets 74 and 75,preferably with a 1:1 ratio of rotational movement, resulting in thesame rotational displacement at each of the sprockets. Rotationalmovement of the proximal sprocket 75, caused by fixing the relativerotational position of the proximal sprocket 75 relative to the distalface 123 of the pan rotate interface 13 housing 121 with a key member105 fitted into key slots (77, 109) defined by the distal sprocket 75and pan rotate interface 13 housing 121, causes rotation of a pin 65,which in turn causes tension via a linkage 67, proximal linkage base 71,and distal linkage base 69, respectively, to a set of gas tensionsprings 79 configured to constrain the rotational motion of thesprockets 74 and 75 (and, thus, of the shaft 55). The position (107) ofthe key member 105 is depicted in FIG. 3.2. Given this configuration,with the solenoid 35 activated and the pan rotate interface 13 free tomove, the timing chain 73 and sprocket 74/75 configuration within thehorizontal extension member 15 is configured to maintain the relativeplanar positioning of the most distal hardware of the system relative tothe plane of the operating table. This is important because a roboticcatheter driver (not shown; see FIGS. 3.10A and 3.10B, for example) maybe mounted upon the instrument driver interface 21 and pulled around bythe handle 23, with the solenoid activated and the brakes released, torotate about the rotational axis 125 of the distal brake unit 19, torotate about the axis 119 of the rotatable frame member 45 within thesolenoid and brake unit housing 3, to rotate and pan about thepan-rotate interface 13 via connectivity of the horizontal extensionmember 15, all simultaneously, without substantially changing the planarorientation of the instrument driver interface 21 relative to the planeof the operating table (not shown). In other words, the axis of rotation125 of the proximal extension 127 of the instrument driver support shaft17 may be configured to always be oriented perpendicular to the plane ofthe operating table, by virtue of the timing chain and sprocketinterfacing of the extension member 15. When electronically activated,the brake 19 allows rotational movement of the of the support shaft 17about an axis of the proximal extension 127. When the brake is notelectronically activated, such rotational movement of the support shaft17 is prevented.

Referring to FIGS. 3.9A and 3.9B, the instrument driver support shaft 17comprises an instrument driver mounting interface 21, and a biasingspring 80 configured to at least partially counterbalance thecantilevered load upon the instrument driver interface 21 caused by theweight of an instrument driver mounted upon it. The biasing spring 80preferably is covered by a spring housing 85. A lead screw 81 isprovided and configured to change the pitch of the instrument driverinterface 21 relative to the support shaft 17 when a knob 83 is rotated.

Referring to FIGS. 3.10A and 3.10B, an instrument driver fitted with acover 129 is depicted mounted to the instrument driver interface 21. Thecover 129 is configured to provide an additional barrier between theinstrument driver which is covers and draping, liquids, vapors, andother substances that may be encountered during a procedure. Preferablythe cover 129 comprises a polymer or metal material and is made withprocesses such as stereolithography, injection molding, or machiningPreferably the cover 129 may be snapped or fastened into place aroundthe instrument driver with simple recessed screws, bolts, or otherfasteners. Similar covers may be configured to cover instrument bases.As depicted in FIGS. 3.10A and 3.10B, the cantilevered mass of thecovered instrument driver 129 creates a moment. Torsional loadsassociated with such moment are counteracted by the spring (not shown inFIGS. 3.10A and 3.10B—see FIG. 3.9A (80)) housed within the housing 85.This counteraction is configured to prevent binding of the knob 83actuated lead screw 81 pitch control of the instrument driver interface21.

In summary, a support assembly 26, or support structure, is configuredto allow for easy repositioning of an instrument driver or other devicerelative to an operating table when an actuation button is depressed,thereby activating a solenoid and releasing two electronic brakes. Theposition of an instrument driver then may be easily fine-tuned, forexample, or modified quickly and substantially to remove the instrumentdriver from the immediate area of a patient on an operating table forquick medical intervention with broad physical access. Constraints limitthe movement of the instrument driver relative to the operatingtable—i.e., a pan-rotate interface 13, a horizontal extension member 15with a rotational position maintaining timing chain 73 fordistally-coupled structures, and brake-lockable rotations about two axesof rotation (125, 119) which may be parallel and both perpendicularrelative to the plane of the operating table—to provide desirablemechanics. When an actuation button is not depressed and the structuresare substantially locked into position relative to each other, with theexception of manually-activated lead screw pitch adjustment of aninstrument driver interface 21, the support assembly 26 is configured toprovide a robust structural platform upon which an instrument driver orother device may be positioned relative to an operating table.

While multiple embodiments and variations of the many aspects of theinvention have been disclosed and described herein, such disclosure isprovided for purposes of illustration only.

1. A support assembly for supporting a remotely-controlled instrumentdriver, comprising: a first member; a second member for supporting theinstrument driver; and an interface assembly for allowing the secondmember to rotate relative to the first member about a first axis, andfor allowing the second member to rotate relative to the first memberabout a second axis that forms an angle relative to the first axis;wherein the interface assembly comprises a ball that is rotatablerelative to the first member, and a shaft extending through the ball,the shaft configured for coupling to the second member.
 2. The supportassembly of claim 1, wherein the interface assembly further comprises afirst ring bearing located around the shaft on first side of the ball,and a second ring bearing located around the shaft on a second side ofthe ball that is opposite from the first side.
 3. The support assemblyof claim 1, wherein the second member is rotatable relative to the firstmember about the first axis to vary an angle formed between an endportion of the first member and an end portion of the second member, andwherein the second member is rotatable relative to the first memberabout the second axis so that the second member moves in a plane that isperpendicular to the end portion of the first member.
 4. The supportassembly of claim 1, further comprising a base to which the first memberis moveably coupled.
 5. The support assembly of claim 4, wherein thebase is removeably attachable to an operating table.
 6. The supportassembly of claim 1, further comprising a housing at an end of the firstmember, wherein the housing has a slot for accommodating a range ofmotion by the shaft of the interface assembly.
 7. The support assemblyof claim 1, further comprising a lever located within the first memberfor locking the interface assembly in place relative to the firstmember.
 8. The support assembly of claim 7, further comprising asolenoid for actuating the lever in response to a control signal.
 9. Thesupport assembly of claim 7, wherein the lever comprises a toeconfigured to press the ball against a contoured surface.
 10. Thesupport assembly of claim 1, wherein the second member is configured toindirectly support the instrument driver.
 11. A support assembly forsupporting a remotely-controlled instrument driver, comprising: a firstmember; a second member for supporting the instrument driver; and aninterface assembly for moveably coupling the second member to the firstmember so that the second member is rotatable relative to the firstmember about a first axis and is rotatable relative to the first memberabout a second axis; wherein the interface assembly comprises a ballrotatable relative to the first member, a shaft extending through theball, a first bearing on a first side of the ball, and a second bearingon a second side of the ball that is opposite from the first side. 12.The support assembly of claim 11, wherein the first bearing comprises afirst ring bearing located around the shaft on the first side of theball, and the second bearing comprises a second ring bearing locatedaround the shaft on the second side of the ball.
 13. The supportassembly of claim 11, wherein the second member is rotatable relative tothe first member about the first axis to vary an angle formed between anend portion of the first member and an end portion of the second member,and wherein the second member is rotatable relative to the first memberabout the second axis so that the second member moves in a plane that isperpendicular to the end portion of the first member.
 14. The supportassembly of claim 11, further comprising a base to which the firstmember is moveably coupled.
 15. The support assembly of claim 14,wherein the base is removeably attachable to an operating table.
 16. Thesupport assembly of claim 11, further comprising a housing at an end ofthe first member, wherein the housing has a slot for accommodating arange of motion by the shaft of the interface assembly.
 17. The supportassembly of claim 11, further comprising a lever located within thefirst member for locking the interface assembly in place relative to thefirst member.
 18. The support assembly of claim 17, further comprising asolenoid for actuating the lever in response to a control signal. 19.The support assembly of claim 17, wherein the lever comprises a toeconfigured to press the ball against a contoured surface.
 20. Thesupport assembly of claim 11, wherein the second member is configured toindirectly support the instrument driver.